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<li class="navelem"><a class="el" href="dir_692f640cc74363071c5c0e14282656e9.html">algorithm</a></li>  </ul>
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<div class="title">wbc_priority.cpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">This is part of OpenLoong Dynamics Control, an open project for the control of biped robot,</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">Copyright (C) 2024 Humanoid Robot (Shanghai) Co., Ltd, under Apache 2.0.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">Feel free to use in any purpose, and cite OpenLoong-Dynamics-Control in any style, to contribute to the advancement of the community.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> &lt;https://gitee.com/panda_23/openloong-dyn-control.git&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> &lt;web@openloong.org.cn&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;wbc_priority.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;iostream&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// QP_nvIn=18, QP_ncIn=22</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a8c838694a7fa3038bb56923679050bea">   12</a></span>&#160;<a class="code" href="classWBC__priority.html#a8c838694a7fa3038bb56923679050bea">WBC_priority::WBC_priority</a>(<span class="keywordtype">int</span> model_nv_In, <span class="keywordtype">int</span> QP_nvIn, <span class="keywordtype">int</span> QP_ncIn, <span class="keywordtype">double</span> miu_In, <span class="keywordtype">double</span> dt): QP_prob(QP_nvIn, QP_ncIn) {</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    timeStep=dt;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>=model_nv_In;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">miu</a>=miu_In;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    QP_nc=QP_ncIn;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    QP_nv=QP_nvIn;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    Sf=Eigen::MatrixXd::Zero(6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    Sf.block&lt;6,6&gt;(0,0)=Eigen::MatrixXd::Identity(6,6);</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    St_qpV2=Eigen::MatrixXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6); <span class="comment">// 6 means the dims of floating base</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    St_qpV2.block(6,0,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6)=Eigen::MatrixXd::Identity(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6);</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    St_qpV1=Eigen::MatrixXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>,6); <span class="comment">// 6 means the dims of delta_b</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    St_qpV1.block&lt;6,6&gt;(0,0)=Eigen::MatrixXd::Identity(6,6);</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="comment">// defined in body frame</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="classWBC__priority.html#a835eb7c5c5a382770ec08294bb3a072b">f_z_low</a>=10;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <a class="code" href="classWBC__priority.html#a43d29119681f29138bf209c027951505">f_z_upp</a>=1400;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <a class="code" href="classWBC__priority.html#a89bb360d72ea2ceb80bcc714427978a1">tau_upp_L</a>&lt;&lt;30,10,40;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <a class="code" href="classWBC__priority.html#ad031c3a10312ef84c6f587a80cf7ea16">tau_low_L</a>&lt;&lt;-30,-10,-40;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    qpOASES::Options options;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    options.setToMPC();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">//options.setToReliable();</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    options.printLevel=qpOASES::PL_LOW;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    QP_prob.setOptions(options);</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">eigen_xOpt</a>=Eigen::VectorXd::Zero(QP_nv);</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <a class="code" href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">eigen_ddq_Opt</a>=Eigen::VectorXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">eigen_fr_Opt</a>=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <a class="code" href="classWBC__priority.html#a78ee8266d45373be050708733b7ac928">eigen_tau_Opt</a>=Eigen::VectorXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6);</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">delta_q_final_kin</a>=Eigen::VectorXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <a class="code" href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">dq_final_kin</a>=Eigen::VectorXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">ddq_final_kin</a>=Eigen::VectorXd::Zero(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    base_rpy_cur=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">//  WBC task defined and order build</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;static_Contact&quot;</span>);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;Roll_Pitch_Yaw_Pz&quot;</span>);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;RedundantJoints&quot;</span>);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;PxPy&quot;</span>);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;PosRot&quot;</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;SwingLeg&quot;</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;HandTrack&quot;</span>);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">addTask</a>(<span class="stringliteral">&quot;HandTrackJoints&quot;</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    std::vector&lt;std::string&gt; taskOrder;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;RedundantJoints&quot;</span>);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;static_Contact&quot;</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">//    taskOrder.emplace_back(&quot;Roll_Pitch_Yaw_Pz&quot;);</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//    taskOrder.emplace_back(&quot;PxPy&quot;);</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;PosRot&quot;</span>);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;SwingLeg&quot;</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">//    taskOrder.emplace_back(&quot;HandTrack&quot;);</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    taskOrder.emplace_back(<span class="stringliteral">&quot;HandTrackJoints&quot;</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a7ce471672b0d7f93cc2ca457594e4695">buildPriority</a>(taskOrder);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a7ed27e44e3d0044570620d3679f26389">   73</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#a7ed27e44e3d0044570620d3679f26389">WBC_priority::dataBusRead</a>(<span class="keyword">const</span> <a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// foot-end offset posture</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <a class="code" href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">fe_L_rot_L_off</a>=robotState.<a class="code" href="structDataBus.html#ae91319ee83a8cf354911f14955449283">fe_L_rot_L_off</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <a class="code" href="classWBC__priority.html#a480a21e54d4f6d9ce948eaf92c7e6ea4">fe_R_rot_L_off</a>=robotState.<a class="code" href="structDataBus.html#af13c859c256c7844154a2aac483123bd">fe_R_rot_L_off</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// deisred values</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    base_rpy_des=robotState.<a class="code" href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">base_rpy_des</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    base_rpy_cur&lt;&lt;robotState.<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[0],robotState.<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[1],robotState.<a class="code" href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">rpy</a>[2];</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    base_pos_des=robotState.<a class="code" href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">base_pos_des</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    swing_fe_pos_des_W=robotState.<a class="code" href="structDataBus.html#aa0e8b071bd5d432229b0f31ef839c3f3">swing_fe_pos_des_W</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    swing_fe_rpy_des_W=robotState.<a class="code" href="structDataBus.html#a286e3619258ff05a05c1c7858caa03fa">swing_fe_rpy_des_W</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    stance_fe_pos_cur_W=robotState.<a class="code" href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">stance_fe_pos_cur_W</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    stance_fe_rot_cur_W=robotState.<a class="code" href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">stance_fe_rot_cur_W</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    stanceDesPos_W=robotState.<a class="code" href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">stanceDesPos_W</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <a class="code" href="classWBC__priority.html#ab25e91d2356c16769cc18c9355338587">hd_l_pos_cur_W</a>=robotState.<a class="code" href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">hd_l_pos_W</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <a class="code" href="classWBC__priority.html#ada612b26865fc9a977e6cecaa813c6a4">hd_r_pos_cur_W</a>=robotState.<a class="code" href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">hd_r_pos_W</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="classWBC__priority.html#a377b89be889b9a1d221e041ec6621f0a">hd_l_rot_cur_W</a>=robotState.<a class="code" href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">hd_l_rot_W</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="classWBC__priority.html#a380db2c47e2752ebebe6aab083051f4f">hd_r_rot_cur_W</a>=robotState.<a class="code" href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">hd_r_rot_W</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    des_ddq=robotState.<a class="code" href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">des_ddq</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    des_dq=robotState.<a class="code" href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">des_dq</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    des_delta_q=robotState.<a class="code" href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">des_delta_q</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    des_q = robotState.<a class="code" href="structDataBus.html#aa1b32738002109b3d8dafb4fd61dac2f">des_q</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// state update</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    J_base=robotState.<a class="code" href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">J_base</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    dJ_base=robotState.<a class="code" href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">dJ_base</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    base_rot=robotState.<a class="code" href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">base_rot</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    base_pos=robotState.<a class="code" href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">base_pos</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>=Eigen::MatrixXd::Zero(12,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>.block(0,0,6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>)=robotState.<a class="code" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>.block(6,0,6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>)=robotState.<a class="code" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <a class="code" href="classWBC__priority.html#ad4278ea3aca9cc98c8c1ff411204e211">J_hd_l</a>=robotState.<a class="code" href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">J_hd_l</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <a class="code" href="classWBC__priority.html#ab2950b524448c63af91ce7b713aec947">J_hd_r</a>=robotState.<a class="code" href="structDataBus.html#a8174314fc64353b48695467949dddb20">J_hd_r</a>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <a class="code" href="classWBC__priority.html#a4912d86b01e6bb6b48e4f8ac60f24cce">dJ_hd_l</a>=robotState.<a class="code" href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">J_hd_l</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <a class="code" href="classWBC__priority.html#a5c7a80ed75a31dd24a2732852f12e4b1">dJ_hd_r</a>=robotState.<a class="code" href="structDataBus.html#a8174314fc64353b48695467949dddb20">J_hd_r</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <a class="code" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">Fr_ff</a>=robotState.<a class="code" href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">Fr_ff</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <a class="code" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">dyn_M</a>=robotState.<a class="code" href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">dyn_M</a>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="classWBC__priority.html#ad9d3684eeccb5f31dcbd0068d2d3b130">dyn_M_inv</a>=robotState.<a class="code" href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">dyn_M_inv</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <a class="code" href="classWBC__priority.html#ac567541e708cee14da44b5e1ff1cbd11">dyn_Ag</a>=robotState.<a class="code" href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">dyn_Ag</a>;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <a class="code" href="classWBC__priority.html#a19c84ca7e1268b73b4de35426d026d1c">dyn_dAg</a>=robotState.<a class="code" href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">dyn_dAg</a>;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <a class="code" href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">dyn_Non</a>=robotState.<a class="code" href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">dyn_Non</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <a class="code" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">dq</a>=robotState.<a class="code" href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">dq</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>=robotState.<a class="code" href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">q</a>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <a class="code" href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">legStateCur</a>=robotState.<a class="code" href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">legState</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">legStateCur</a>==<a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>) {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">Jc</a> = robotState.<a class="code" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">dJc</a> = robotState.<a class="code" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">dJ_l</a>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">Jsw</a> = robotState.<a class="code" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <a class="code" href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">dJsw</a> = robotState.<a class="code" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">dJ_r</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">fe_pos_sw_W</a> = robotState.<a class="code" href="structDataBus.html#a1bb8296c8580550caf059e975149658e">fe_r_pos_W</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <a class="code" href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">fe_rot_sw_W</a> =robotState.<a class="code" href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">fe_r_rot_W</a>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">Jc</a> = robotState.<a class="code" href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">J_r</a>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">dJc</a> = robotState.<a class="code" href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">dJ_r</a>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">Jsw</a> = robotState.<a class="code" href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">J_l</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">dJsw</a> = robotState.<a class="code" href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">dJ_l</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">fe_pos_sw_W</a> = robotState.<a class="code" href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">fe_l_pos_W</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <a class="code" href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">fe_rot_sw_W</a> =robotState.<a class="code" href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">fe_l_rot_W</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a1504c45533bea5c9b6a4a87648db0c0c">  138</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#a1504c45533bea5c9b6a4a87648db0c0c">WBC_priority::dataBusWrite</a>(<a class="code" href="structDataBus.html">DataBus</a> &amp;robotState) {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    robotState.<a class="code" href="structDataBus.html#a65528a5d511f22b2ba35d544460d0926">wbc_tauJointRes</a>=<a class="code" href="classWBC__priority.html#a1193aad27a9cafd2b447a91fcb252103">tauJointRes</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    robotState.<a class="code" href="structDataBus.html#af87720bdc128aaf11f6496200af1a1f9">wbc_FrRes</a>=<a class="code" href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">eigen_fr_Opt</a>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    robotState.<a class="code" href="structDataBus.html#a0c65dc5887bec780cbb0b8b421e9b478">qp_cpuTime</a>=cpu_time;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    robotState.<a class="code" href="structDataBus.html#a3d8447bc1e464140c5fa6b50a5df2ce0">qp_nWSR</a>=nWSR;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    robotState.<a class="code" href="structDataBus.html#a34bcde8ab49fc624a23771e8972248ed">qp_status</a>=qpStatus;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    robotState.<a class="code" href="structDataBus.html#abbf1e7f7fea2191d05ce3252ae52e879">wbc_delta_q_final</a>=<a class="code" href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">delta_q_final_kin</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    robotState.<a class="code" href="structDataBus.html#ade7bf3a259767473423ff44a178b8dc1">wbc_dq_final</a>=<a class="code" href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">dq_final_kin</a>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    robotState.<a class="code" href="structDataBus.html#ad65ef145124b588a62c1505a9acf3767">wbc_ddq_final</a>=<a class="code" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">ddq_final_kin</a>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">// QP problem contains joint torque, QP_nv=6+12, QP_nc=22;</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classWBC__priority.html#adf9a6a3385417332666e2157b6903fe9">  151</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#adf9a6a3385417332666e2157b6903fe9">WBC_priority::computeTau</a>() {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// constust the QP problem, refer to the md file for more details</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    Eigen::MatrixXd eigen_qp_A1=Eigen::MatrixXd::Zero(6, QP_nv);<span class="comment">// 18 means the sum of dims of delta_r and delta_Fr</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    eigen_qp_A1.block&lt;6,6&gt;(0, 0)= Sf * <a class="code" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">dyn_M</a> * St_qpV1;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    eigen_qp_A1.block&lt;6,12&gt;(0, 6)= -Sf * <a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>.transpose();</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    Eigen::VectorXd eqRes=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    eqRes=-Sf*<a class="code" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">dyn_M</a>*<a class="code" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">ddq_final_kin</a>-Sf*<a class="code" href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">dyn_Non</a>+Sf*<a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>.transpose()*<a class="code" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">Fr_ff</a>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    Eigen::MatrixXd W=Eigen::MatrixXd::Zero(16,12);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    W(0,0)=1;W(0,2)= sqrt(2)/2.0*<a class="code" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">miu</a>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    W(1,0)=-1;W(1,2)= sqrt(2)/2.0*<a class="code" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">miu</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    W(2,1)=1;W(2,2)= sqrt(2)/2.0*<a class="code" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">miu</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    W(3,1)=-1;W(3,2)= sqrt(2)/2.0*<a class="code" href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">miu</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    W.block&lt;4,4&gt;(4,2)=Eigen::MatrixXd::Identity(4,4);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    W.block&lt;8,6&gt;(8,6)=W.block&lt;8,6&gt;(0,0);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    Eigen::VectorXd f_low=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    Eigen::VectorXd f_upp=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    Eigen::Vector3d tau_upp_fe, tau_low_fe;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    tau_upp_fe=<a class="code" href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">fe_L_rot_L_off</a>.transpose()*<a class="code" href="classWBC__priority.html#a89bb360d72ea2ceb80bcc714427978a1">tau_upp_L</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    tau_low_fe=<a class="code" href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">fe_L_rot_L_off</a>.transpose()*<a class="code" href="classWBC__priority.html#ad031c3a10312ef84c6f587a80cf7ea16">tau_low_L</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    Eigen::Vector3d tau_upp_W, tau_low_W;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    tau_upp_W=stance_fe_rot_cur_W*tau_upp_fe;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    tau_low_W=stance_fe_rot_cur_W*tau_low_fe;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    f_upp.block&lt;8,1&gt;(0,0)&lt;&lt;1e10,1e10,1e10,1e10,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            <a class="code" href="classWBC__priority.html#a43d29119681f29138bf209c027951505">f_z_upp</a>,std::max(tau_upp_W(0),tau_low_W(0)),std::max(tau_upp_W(1),tau_low_W(1)),std::max(tau_upp_W(2),tau_low_W(2));</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    f_upp.block&lt;8,1&gt;(8,0)=f_upp.block&lt;8,1&gt;(0,0);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    f_low.block&lt;8,1&gt;(0,0)&lt;&lt;0,0,0,0,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            <a class="code" href="classWBC__priority.html#a835eb7c5c5a382770ec08294bb3a072b">f_z_low</a>,std::min(tau_upp_W(0),tau_low_W(0)),std::min(tau_upp_W(1),tau_low_W(1)),std::min(tau_upp_W(2),tau_low_W(2));</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    f_low.block&lt;8,1&gt;(8,0)=f_low.block&lt;8,1&gt;(0,0);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">legStateCur</a>==<a class="code" href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a>)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        f_upp(12)=0;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        f_upp(13)=0;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        f_upp(14)=0;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        f_upp(15)=0;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        f_low(12)=0;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        f_low(13)=0;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        f_low(14)=0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        f_low(15)=0;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">legStateCur</a>==DataBus::RSt)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        f_upp(4)=0;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        f_upp(5)=0;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        f_upp(6)=0;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        f_upp(7)=0;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        f_low(4)=0;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        f_low(5)=0;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        f_low(6)=0;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        f_low(7)=0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    Eigen::MatrixXd eigen_qp_A2=Eigen::MatrixXd::Zero(16, 18);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    eigen_qp_A2.block&lt;16,12&gt;(0,6)=W;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    Eigen::VectorXd neqRes_low=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    Eigen::VectorXd neqRes_upp=Eigen::VectorXd::Zero(16);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    neqRes_low=f_low-W*<a class="code" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">Fr_ff</a>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    neqRes_upp=f_upp-W*<a class="code" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">Fr_ff</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    Eigen::MatrixXd eigen_qp_A_final=Eigen::MatrixXd::Zero(QP_nc,QP_nv);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    eigen_qp_A_final.block&lt;6,18&gt;(0,0)=eigen_qp_A1;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    eigen_qp_A_final.block&lt;16,18&gt;(6,0)=eigen_qp_A2;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    Eigen::VectorXd eigen_qp_lbA=Eigen::VectorXd::Zero(22);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    Eigen::VectorXd eigen_qp_ubA=Eigen::VectorXd::Zero(22);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    eigen_qp_lbA.block&lt;6,1&gt;(0,0)=eqRes;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    eigen_qp_lbA.block&lt;16,1&gt;(6,0)=neqRes_low;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    eigen_qp_ubA.block&lt;6,1&gt;(0,0)=eqRes;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    eigen_qp_ubA.block&lt;16,1&gt;(6,0)=neqRes_upp;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    Eigen::MatrixXd eigen_qp_H=Eigen::MatrixXd::Zero(QP_nv,QP_nv);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <a class="code" href="classWBC__priority.html#a24cd63af227e80cfabfa7f9265a8270d">Q2</a>=Eigen::MatrixXd::Identity(6,6);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <a class="code" href="classWBC__priority.html#af7eb60ca2fb34b7bcd10f488384e7a95">Q1</a>=Eigen::MatrixXd::Identity(12,12);</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    eigen_qp_H.block&lt;6,6&gt;(0,0)=<a class="code" href="classWBC__priority.html#a24cd63af227e80cfabfa7f9265a8270d">Q2</a>*2.0*1e8;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    eigen_qp_H.block&lt;12,12&gt;(6,6)=<a class="code" href="classWBC__priority.html#af7eb60ca2fb34b7bcd10f488384e7a95">Q1</a>*2.0;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="comment">// obj: (1/2)x&#39;Hx+x&#39;g</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// s.t. lbA&lt;=Ax&lt;=ubA</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="comment">//       lb&lt;=x&lt;=ub</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="comment">//    qpOASES::real_t qp_H[QP_nv*QP_nv];</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="comment">//    qpOASES::real_t qp_A[QP_nc*QP_nv];</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">//    qpOASES::real_t qp_g[QP_nv];</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">//    qpOASES::real_t qp_lbA[QP_nc];</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="comment">//    qpOASES::real_t qp_ubA[QP_nc];</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="comment">//    qpOASES::real_t xOpt_iniGuess[QP_nv];</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    copy_Eigen_to_real_t(qp_H,eigen_qp_H,eigen_qp_H.rows(),eigen_qp_H.cols());</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    copy_Eigen_to_real_t(qp_A,eigen_qp_A_final,eigen_qp_A_final.rows(),eigen_qp_A_final.cols());</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    copy_Eigen_to_real_t(qp_lbA,eigen_qp_lbA,eigen_qp_lbA.rows(),eigen_qp_lbA.cols());</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    copy_Eigen_to_real_t(qp_ubA,eigen_qp_ubA,eigen_qp_ubA.rows(),eigen_qp_ubA.cols());</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    qpOASES::returnValue res;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;QP_nv;i++) {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        xOpt_iniGuess[i] = 0;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="comment">//        xOpt_iniGuess[i] =eigen_xOpt(i);</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        qp_g[i] = 0;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    nWSR=200;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    cpu_time=timeStep;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="comment">//    QP_prob.reset();</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    res=QP_prob.init(qp_H,qp_g,qp_A,NULL,NULL,qp_lbA,qp_ubA,nWSR,&amp;cpu_time,xOpt_iniGuess);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    qpStatus=qpOASES::getSimpleStatus(res);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;<span class="comment">//    if (res==qpOASES::SUCCESSFUL_RETURN)</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="comment">//        printf(&quot;WBC-QP: successful_return\n&quot;);</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="comment">//    else if (res==qpOASES::RET_MAX_NWSR_REACHED)</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">//        printf(&quot;WBC-QP: max_nwsr\n&quot;);</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">//    else if (res==qpOASES::RET_INIT_FAILED)</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">//        printf(&quot;WBC-QP: init_failed\n&quot;);</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    qpOASES::real_t xOpt[QP_nv];</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    QP_prob.getPrimalSolution(xOpt);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keywordflow">if</span> (res==qpOASES::SUCCESSFUL_RETURN)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;QP_nv;i++)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;            <a class="code" href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">eigen_xOpt</a>(i)=xOpt[i];</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <a class="code" href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">eigen_ddq_Opt</a>=<a class="code" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">ddq_final_kin</a>;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <a class="code" href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">eigen_ddq_Opt</a>.block&lt;6,1&gt;(0,0)+=<a class="code" href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">eigen_xOpt</a>.block&lt;6,1&gt;(0,0);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <a class="code" href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">eigen_fr_Opt</a>=<a class="code" href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">Fr_ff</a>+<a class="code" href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">eigen_xOpt</a>.block&lt;12,1&gt;(6,0);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    Eigen::VectorXd tauRes;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    tauRes=<a class="code" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">dyn_M</a>*<a class="code" href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">eigen_ddq_Opt</a>+<a class="code" href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">dyn_Non</a>-<a class="code" href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">Jfe</a>.transpose()*<a class="code" href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">eigen_fr_Opt</a>;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <a class="code" href="classWBC__priority.html#a1193aad27a9cafd2b447a91fcb252103">tauJointRes</a>=tauRes.block(6,0,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>-6,1);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    last_nWSR=nWSR;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    last_cpu_time=cpu_time;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;}</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classWBC__priority.html#a7cb65e689671b04b1b4bca685602abaa">  287</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#a7cb65e689671b04b1b4bca685602abaa">WBC_priority::computeDdq</a>(<a class="code" href="classPin__KinDyn.html">Pin_KinDyn</a> &amp;kinSolver) {</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="comment">// task definition</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordtype">int</span> <span class="keywordtype">id</span>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;static_Contact&quot;</span>);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes=Eigen::VectorXd::Zero(3);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp=Eigen::MatrixXd::Identity(3,3)*0;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd=Eigen::MatrixXd::Identity(3,3)*0;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J=<a class="code" href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">Jc</a>.block(0,0,3,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ=<a class="code" href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">dJc</a>.block(0,0,3,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal()=Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordtype">id</span>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;RedundantJoints&quot;</span>);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(0)=0-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(21);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(1)=0-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(22);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(2)=0-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(23);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(3)=0-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(24);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(4)=0-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(25);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes=Eigen::VectorXd::Zero(5);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp=Eigen::MatrixXd::Identity(5,5)*200;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd=Eigen::MatrixXd::Identity(5,5)*20;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J=Eigen::MatrixXd::Zero(5,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J(0,20)=1;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J(1,21)=1;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J(2,22)=1;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J(3,23)=1;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J(4,24)=1;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ=Eigen::MatrixXd::Zero(5,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal()=Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordtype">id</span>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;Roll_Pitch_Yaw_Pz&quot;</span>);</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        Eigen::Matrix3d desRot=eul2Rot(base_rpy_des(0),base_rpy_des(1),base_rpy_des(2));</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(0, 0)=diffRot(base_rot, desRot);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(3)=base_pos_des(2)-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(2);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX.block&lt;3,1&gt;(0,0)=-<a class="code" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">dq</a>.block&lt;3,1&gt;(3,0);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX(3)=0-<a class="code" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">dq</a>(2);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes=Eigen::VectorXd::Zero(4);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp=Eigen::MatrixXd::Identity(4,4)*2000;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd=Eigen::MatrixXd::Identity(4,4)*10;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        Eigen::MatrixXd taskMap=Eigen::MatrixXd::Zero(4, 6);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        taskMap(0, 3)=1;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        taskMap(1, 4)=1;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        taskMap(2, 5)=1;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        taskMap(3, 2)=1;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J=taskMap*J_base;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ=taskMap*dJ_base;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal()=Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="keywordtype">id</span>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;PxPy&quot;</span>);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=des_dq.block(0,0,2,1)*timeStep;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes=Eigen::VectorXd::Zero(2);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp=Eigen::MatrixXd::Identity(2,2)*500; <span class="comment">//100</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd=Eigen::MatrixXd::Identity(2,2)*50;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        taskMap=Eigen::MatrixXd::Zero(2, 6);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        taskMap(0, 0)=1;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        taskMap(1, 1)=1;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J=taskMap*J_base;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ=taskMap*dJ_base;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal()=Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keywordtype">id</span> = <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;PosRot&quot;</span>);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX = Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;            <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block(0,0,3,1) = base_pos_des - <a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>.block(0,0,3,1);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;            <span class="keywordflow">if</span> (fabs(<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[<span class="keywordtype">id</span>].errX(0))&gt;0.02)</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(0)=0.02* sign(<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[<span class="keywordtype">id</span>].errX(0));</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            <span class="keywordflow">if</span> (fabs(<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[<span class="keywordtype">id</span>].errX(1))&gt;0.02)</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;               <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX(1)=0.02* sign(<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[<span class="keywordtype">id</span>].errX(1));</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;                desRot = eul2Rot(base_rpy_des(0), base_rpy_des(1), base_rpy_des(2));</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;            <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3, 1&gt;(3, 0) = diffRot(base_rot, desRot);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX = -<a class="code" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">dq</a>.block(0, 0,6,1);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes = Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes = Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp = Eigen::MatrixXd::Identity(6, 6) * 10;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;            <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp.block(3,3,3,3)=Eigen::MatrixXd::Identity(3, 3) * 2000;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd = Eigen::MatrixXd::Identity(6, 6) * 1;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd.block(3,3,3,3)=Eigen::MatrixXd::Identity(3, 3) * 100;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J = J_base;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ = dJ_base;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal() = Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="keywordtype">id</span>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;SwingLeg&quot;</span>);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(0,0)=swing_fe_pos_des_W-<a class="code" href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">fe_pos_sw_W</a>;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        desRot= eul2Rot(swing_fe_rpy_des_W(0),swing_fe_rpy_des_W(1),swing_fe_rpy_des_W(2));</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(3,0)=diffRot(<a class="code" href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">fe_rot_sw_W</a>, desRot);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;<span class="comment">//        kin_tasks.taskLib[id].derrX=-Jsw*dq;</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes=Eigen::VectorXd::Zero(6);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp=Eigen::MatrixXd::Identity(6,6)*3000;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp.block&lt;1,1&gt;(2,2) = <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[<span class="keywordtype">id</span>].kp.block&lt;1,1&gt;(2,2)*0.1;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd=Eigen::MatrixXd::Identity(6,6)*20;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J=<a class="code" href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">Jsw</a>;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ=<a class="code" href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">dJsw</a>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal()=Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    <span class="comment">// task 6: hand track</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="comment">// define swing arm motion</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;<span class="comment">//    hd_l_pos_L_des&lt;&lt;-0.02, 0.32, -0.159;</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="comment">//    hd_r_pos_L_des&lt;&lt;-0.02, -0.32, -0.159;</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="comment">//    hd_l_eul_L_des&lt;&lt;-1.7581, 0.2129, 2.9581;</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;<span class="comment">//    hd_r_eul_L_des&lt;&lt;1.7581, 0.21291, -2.9581;</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    Eigen::Vector3d hd_l_eul_L_des={-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    Eigen::Vector3d hd_r_eul_L_des={1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    Eigen::Matrix3d hd_l_rot_des= eul2Rot(hd_l_eul_L_des(0),hd_l_eul_L_des(1),hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    Eigen::Matrix3d hd_r_rot_des= eul2Rot(hd_r_eul_L_des(0),hd_r_eul_L_des(1),hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    Eigen::Vector3d base2shoulder_l_pos_L_des={0.0040, 0.1616, 0.3922};</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    Eigen::Vector3d shoulder2hand_l_pos_L_des={-0.0240, 0.1584, -0.5512};</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    Eigen::Vector3d base2shoulder_r_pos_L_des={0.0040, -0.1616, 0.3922};</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    Eigen::Vector3d shoulder2hand_r_pos_L_des={-0.0240, -0.1584, -0.5512};</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="keywordtype">double</span> l_hip_pitch=<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(28)-qIniDes(28);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keywordtype">double</span> r_hip_pitch=<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>(34)-qIniDes(34);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordtype">double</span> k=0.8;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    hd_l_rot_des= eul2Rot(0,-k*r_hip_pitch,0)*eul2Rot(hd_l_eul_L_des(0),hd_l_eul_L_des(1),hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    hd_r_rot_des= eul2Rot(0,-k*l_hip_pitch,0)*eul2Rot(hd_r_eul_L_des(0),hd_r_eul_L_des(1),hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    Eigen::Vector3d hd_l_pos_W_des=eul2Rot(0,-k*r_hip_pitch,0)*shoulder2hand_l_pos_L_des+base2shoulder_l_pos_L_des+base_pos;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    Eigen::Vector3d hd_r_pos_W_des=eul2Rot(0,-k*l_hip_pitch,0)*shoulder2hand_r_pos_L_des+base2shoulder_r_pos_L_des+base_pos;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    Eigen::Matrix3d hd_l_rot_W_des= hd_l_rot_des;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    Eigen::Matrix3d hd_r_rot_W_des= hd_r_rot_des;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keywordtype">id</span>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;HandTrack&quot;</span>);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(0,0)=hd_l_pos_W_des-<a class="code" href="classWBC__priority.html#ab25e91d2356c16769cc18c9355338587">hd_l_pos_cur_W</a>;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(3,0)=diffRot(<a class="code" href="classWBC__priority.html#a377b89be889b9a1d221e041ec6621f0a">hd_l_rot_cur_W</a>, hd_l_rot_W_des);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(6,0)=hd_r_pos_W_des-<a class="code" href="classWBC__priority.html#ada612b26865fc9a977e6cecaa813c6a4">hd_r_pos_cur_W</a>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX.block&lt;3,1&gt;(9,0)=diffRot(<a class="code" href="classWBC__priority.html#a380db2c47e2752ebebe6aab083051f4f">hd_r_rot_cur_W</a>, hd_r_rot_W_des);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes=Eigen::VectorXd::Zero(12);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp=Eigen::MatrixXd::Identity(12,12)*2000;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd=Eigen::MatrixXd::Identity(12,12)*20;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J=Eigen::MatrixXd::Zero(12,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J.block(0,0,6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>)=<a class="code" href="classWBC__priority.html#ad4278ea3aca9cc98c8c1ff411204e211">J_hd_l</a>;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J.block(6,0,6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>)=<a class="code" href="classWBC__priority.html#ab2950b524448c63af91ce7b713aec947">J_hd_r</a>;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ=Eigen::MatrixXd::Zero(12,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ.block(0,0,6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>)=<a class="code" href="classWBC__priority.html#a4912d86b01e6bb6b48e4f8ac60f24cce">dJ_hd_l</a>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ.block(6,0,6,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>)=<a class="code" href="classWBC__priority.html#a5c7a80ed75a31dd24a2732852f12e4b1">dJ_hd_r</a>;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal()=Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="comment">// define swing arm motion</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    hd_l_eul_L_des = {-1.7581, 0.2129, 2.9581};</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    hd_r_eul_L_des = {1.7581, 0.2129, -2.9581};</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    hd_l_rot_des = eul2Rot(hd_l_eul_L_des(0), hd_l_eul_L_des(1), hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    hd_r_rot_des = eul2Rot(hd_r_eul_L_des(0), hd_r_eul_L_des(1), hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    base2shoulder_l_pos_L_des = {0.0040, 0.1616, 0.3922};</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    shoulder2hand_l_pos_L_des = {-0.0240, 0.1584, -0.5512};</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    base2shoulder_r_pos_L_des = {0.0040, -0.1616, 0.3922};</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    shoulder2hand_r_pos_L_des = {-0.0240, -0.1584, -0.5512};</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;<span class="comment">//        double l_hip_pitch = 0; //q(28) - qIniDes(28);</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;<span class="comment">//        double r_hip_pitch = 0; //q(34) - qIniDes(34);</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    k = 0.8;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    hd_l_rot_des =</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;            eul2Rot(0, -k * r_hip_pitch, 0) * eul2Rot(hd_l_eul_L_des(0), hd_l_eul_L_des(1), hd_l_eul_L_des(2));</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    hd_r_rot_des =</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;            eul2Rot(0, -k * l_hip_pitch, 0) * eul2Rot(hd_r_eul_L_des(0), hd_r_eul_L_des(1), hd_r_eul_L_des(2));</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    Eigen::Vector3d hd_l_pos_L_des =</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;            eul2Rot(0, -k * r_hip_pitch, 0) * shoulder2hand_l_pos_L_des + base2shoulder_l_pos_L_des;<span class="comment">//base_pos;</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    Eigen::Vector3d hd_r_pos_L_des =</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;            eul2Rot(0, -k * l_hip_pitch, 0) * shoulder2hand_r_pos_L_des + base2shoulder_r_pos_L_des; <span class="comment">//+ base_pos;</span></div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    <span class="keyword">auto</span> resLeg=kinSolver.<a class="code" href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">computeInK_Hand</a>(hd_l_rot_des,hd_l_pos_L_des,hd_r_rot_des,hd_r_pos_L_des);</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    <span class="keywordtype">id</span> = <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">getId</a>(<span class="stringliteral">&quot;HandTrackJoints&quot;</span>);</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].errX=resLeg.jointPosRes.block&lt;14,1&gt;(0,0)-<a class="code" href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">q</a>.block&lt;14,1&gt;(7,0);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].derrX = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].ddxDes = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dxDes = Eigen::VectorXd::Zero(14);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kp = Eigen::MatrixXd::Identity(14, 14) * 10; <span class="comment">//100</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].kd = Eigen::MatrixXd::Identity(14, 14) * 5;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J = Eigen::MatrixXd::Zero(14,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].J.block(0,6,14,14)=Eigen::MatrixXd::Identity(14,14);</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].dJ = Eigen::MatrixXd::Zero(14,<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">taskLib</a>[id].W.diagonal() = Eigen::VectorXd::Ones(<a class="code" href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">model_nv</a>);</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160; </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#ae7d53e762bf5f6481aa8af522430b3a4">computeAll</a>(des_delta_q,des_dq,des_ddq,<a class="code" href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">dyn_M</a>, <a class="code" href="classWBC__priority.html#ad9d3684eeccb5f31dcbd0068d2d3b130">dyn_M_inv</a>, <a class="code" href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">dq</a>);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="comment">// final WBC output collection</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <a class="code" href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">delta_q_final_kin</a>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#adae2ae0a7297db83c589f7b4d26cbe02">out_delta_q</a>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <a class="code" href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">dq_final_kin</a>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a5400e52d0704615006046d3d8f0d028a">out_dq</a>;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;    <a class="code" href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">ddq_final_kin</a>=<a class="code" href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">kin_tasks</a>.<a class="code" href="classPriorityTasks.html#a09f59b5e96992cea32ed2f6979b244c2">out_ddq</a>;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;}</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;<span class="keywordtype">void</span> WBC_priority::copy_Eigen_to_real_t(qpOASES::real_t *target, <span class="keyword">const</span> Eigen::MatrixXd &amp;source, <span class="keywordtype">int</span> nRows, <span class="keywordtype">int</span> nCols) {</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        <span class="keywordtype">int</span> count = 0;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nRows; i++) {</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; nCols; j++) {</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                target[count++] = isinf(source(i, j)) ? qpOASES::INFTY : source(i, j);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            }</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        }</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;}</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="line"><a name="l00496"></a><span class="lineno"><a class="line" href="classWBC__priority.html#ad7a8bfff2aa05dcedeb6e3e656d3c6fd">  496</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classWBC__priority.html#ad7a8bfff2aa05dcedeb6e3e656d3c6fd">WBC_priority::setQini</a>(<span class="keyword">const</span> Eigen::VectorXd &amp;qIni) {</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    qIniDes=qIni;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;}</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassWBC__priority_html_a1504c45533bea5c9b6a4a87648db0c0c"><div class="ttname"><a href="classWBC__priority.html#a1504c45533bea5c9b6a4a87648db0c0c">WBC_priority::dataBusWrite</a></div><div class="ttdeci">void dataBusWrite(DataBus &amp;robotState)</div><div class="ttdoc">write data to databus</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00138">wbc_priority.cpp:138</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a03d1a9c1e92ed193b06b4606b3698d71"><div class="ttname"><a href="classWBC__priority.html#a03d1a9c1e92ed193b06b4606b3698d71">WBC_priority::Jc</a></div><div class="ttdeci">Eigen::MatrixXd Jc</div><div class="ttdoc">jacobian matrix of foot contact</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00050">wbc_priority.h:50</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ada612b26865fc9a977e6cecaa813c6a4"><div class="ttname"><a href="classWBC__priority.html#ada612b26865fc9a977e6cecaa813c6a4">WBC_priority::hd_r_pos_cur_W</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_cur_W</div><div class="ttdoc">current right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00064">wbc_priority.h:64</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_a7ce471672b0d7f93cc2ca457594e4695"><div class="ttname"><a href="classPriorityTasks.html#a7ce471672b0d7f93cc2ca457594e4695">PriorityTasks::buildPriority</a></div><div class="ttdeci">void buildPriority(const std::vector&lt; std::string &gt; &amp;taskOrder)</div><div class="ttdoc">setup the task priority</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8cpp_source.html#l00035">priority_tasks.cpp:35</a></div></div>
<div class="ttc" id="astructDataBus_html_a286e3619258ff05a05c1c7858caa03fa"><div class="ttname"><a href="structDataBus.html#a286e3619258ff05a05c1c7858caa03fa">DataBus::swing_fe_rpy_des_W</a></div><div class="ttdeci">Eigen::Vector3d swing_fe_rpy_des_W</div><div class="ttdoc">desired swing foot end angle position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00136">data_bus.h:136</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a690988c51a899e4ed196c80326efcba0"><div class="ttname"><a href="classWBC__priority.html#a690988c51a899e4ed196c80326efcba0">WBC_priority::dJc</a></div><div class="ttdeci">Eigen::MatrixXd dJc</div><div class="ttdoc">jacobian time variation matrix of foot contact</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00051">wbc_priority.h:51</a></div></div>
<div class="ttc" id="astructDataBus_html_aa1b32738002109b3d8dafb4fd61dac2f"><div class="ttname"><a href="structDataBus.html#aa1b32738002109b3d8dafb4fd61dac2f">DataBus::des_q</a></div><div class="ttdeci">Eigen::VectorXd des_q</div><div class="ttdoc">desired generalized position</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00134">data_bus.h:134</a></div></div>
<div class="ttc" id="astructDataBus_html_a9a0d5709c566c7421d44f0e8beda62c2"><div class="ttname"><a href="structDataBus.html#a9a0d5709c566c7421d44f0e8beda62c2">DataBus::stance_fe_pos_cur_W</a></div><div class="ttdeci">Eigen::Vector3d stance_fe_pos_cur_W</div><div class="ttdoc">current stance foot end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00137">data_bus.h:137</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a0cfc5cc63af24a7e8d04f4ef360ba20e"><div class="ttname"><a href="classWBC__priority.html#a0cfc5cc63af24a7e8d04f4ef360ba20e">WBC_priority::eigen_fr_Opt</a></div><div class="ttdeci">Eigen::VectorXd eigen_fr_Opt</div><div class="ttdoc">final reaction force of two legs after DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00075">wbc_priority.h:75</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a071214fcca162d0a68d66b7eda3d5a77"><div class="ttname"><a href="classWBC__priority.html#a071214fcca162d0a68d66b7eda3d5a77">WBC_priority::delta_q_final_kin</a></div><div class="ttdeci">Eigen::VectorXd delta_q_final_kin</div><div class="ttdoc">delta_q result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00079">wbc_priority.h:79</a></div></div>
<div class="ttc" id="astructDataBus_html_a1e20ca2abda0e8342aa07eaf4b7adaa4"><div class="ttname"><a href="structDataBus.html#a1e20ca2abda0e8342aa07eaf4b7adaa4">DataBus::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">velocity variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00051">data_bus.h:51</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_a09f59b5e96992cea32ed2f6979b244c2"><div class="ttname"><a href="classPriorityTasks.html#a09f59b5e96992cea32ed2f6979b244c2">PriorityTasks::out_ddq</a></div><div class="ttdeci">Eigen::VectorXd out_ddq</div><div class="ttdoc">the final ddq calculated to execute tasks</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8h_source.html#l00058">priority_tasks.h:58</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_ae7d53e762bf5f6481aa8af522430b3a4"><div class="ttname"><a href="classPriorityTasks.html#ae7d53e762bf5f6481aa8af522430b3a4">PriorityTasks::computeAll</a></div><div class="ttdeci">void computeAll(const Eigen::VectorXd &amp;des_delta_q, const Eigen::VectorXd &amp;des_dq, const Eigen::VectorXd &amp;des_ddq, const Eigen::MatrixXd &amp;dyn_M, const Eigen::MatrixXd &amp;dyn_M_inv, const Eigen::VectorXd &amp;dq)</div><div class="ttdoc">compute desired delta_q, dq, ddq to execute the tasks</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8cpp_source.html#l00066">priority_tasks.cpp:66</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a605e33bf1886ad1fe93e120a984b5085"><div class="ttname"><a href="classWBC__priority.html#a605e33bf1886ad1fe93e120a984b5085">WBC_priority::fe_pos_sw_W</a></div><div class="ttdeci">Eigen::Vector3d fe_pos_sw_W</div><div class="ttdoc">current swing foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00062">wbc_priority.h:62</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_adf9a6a3385417332666e2157b6903fe9"><div class="ttname"><a href="classWBC__priority.html#adf9a6a3385417332666e2157b6903fe9">WBC_priority::computeTau</a></div><div class="ttdeci">void computeTau()</div><div class="ttdoc">compute the desired joint torques, basically the DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00151">wbc_priority.cpp:151</a></div></div>
<div class="ttc" id="astructDataBus_html_a05ae4114523a0df9822667297ba5046d"><div class="ttname"><a href="structDataBus.html#a05ae4114523a0df9822667297ba5046d">DataBus::fe_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_l_pos_W</div><div class="ttdoc">left foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00065">data_bus.h:65</a></div></div>
<div class="ttc" id="astructDataBus_html_aa0e8b071bd5d432229b0f31ef839c3f3"><div class="ttname"><a href="structDataBus.html#aa0e8b071bd5d432229b0f31ef839c3f3">DataBus::swing_fe_pos_des_W</a></div><div class="ttdeci">Eigen::Vector3d swing_fe_pos_des_W</div><div class="ttdoc">desired swing foot end position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00135">data_bus.h:135</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad4278ea3aca9cc98c8c1ff411204e211"><div class="ttname"><a href="classWBC__priority.html#ad4278ea3aca9cc98c8c1ff411204e211">WBC_priority::J_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00055">wbc_priority.h:55</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a3104af953a95b48eec6a05798f8b0110"><div class="ttname"><a href="classWBC__priority.html#a3104af953a95b48eec6a05798f8b0110">WBC_priority::legStateCur</a></div><div class="ttdeci">int legStateCur</div><div class="ttdoc">current leg swing or stance state</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00032">wbc_priority.h:32</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a377b89be889b9a1d221e041ec6621f0a"><div class="ttname"><a href="classWBC__priority.html#a377b89be889b9a1d221e041ec6621f0a">WBC_priority::hd_l_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_cur_W</div><div class="ttdoc">current left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00065">wbc_priority.h:65</a></div></div>
<div class="ttc" id="astructDataBus_html_a2ebe414c042f067bc8819b43c9436832"><div class="ttname"><a href="structDataBus.html#a2ebe414c042f067bc8819b43c9436832">DataBus::hd_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_W</div><div class="ttdoc">right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00085">data_bus.h:85</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a7ed27e44e3d0044570620d3679f26389"><div class="ttname"><a href="classWBC__priority.html#a7ed27e44e3d0044570620d3679f26389">WBC_priority::dataBusRead</a></div><div class="ttdeci">void dataBusRead(const DataBus &amp;robotState)</div><div class="ttdoc">read data from databus</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00073">wbc_priority.cpp:73</a></div></div>
<div class="ttc" id="astructDataBus_html_a7bb7e1397ba963e17e1f840cc7abd610"><div class="ttname"><a href="structDataBus.html#a7bb7e1397ba963e17e1f840cc7abd610">DataBus::base_pos</a></div><div class="ttdeci">Eigen::Vector3d base_pos</div><div class="ttdoc">base position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00066">data_bus.h:66</a></div></div>
<div class="ttc" id="astructDataBus_html_a1edc3a08678a00bdb4eb755a3157ec9b"><div class="ttname"><a href="structDataBus.html#a1edc3a08678a00bdb4eb755a3157ec9b">DataBus::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">position variable of the robot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00050">data_bus.h:50</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a8c838694a7fa3038bb56923679050bea"><div class="ttname"><a href="classWBC__priority.html#a8c838694a7fa3038bb56923679050bea">WBC_priority::WBC_priority</a></div><div class="ttdeci">WBC_priority(int model_nv_In, int QP_nvIn, int QP_ncIn, double miu_In, double dt)</div><div class="ttdoc">Construct a new wbc priority object.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00012">wbc_priority.cpp:12</a></div></div>
<div class="ttc" id="astructDataBus_html_a4c495f9b2d97807c38e726dbada293a7"><div class="ttname"><a href="structDataBus.html#a4c495f9b2d97807c38e726dbada293a7">DataBus::des_dq</a></div><div class="ttdeci">Eigen::VectorXd des_dq</div><div class="ttdoc">desired generalized velocity</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00132">data_bus.h:132</a></div></div>
<div class="ttc" id="astructDataBus_html_af03f33eb3cb6bcf43ff21cee18b2a2e6"><div class="ttname"><a href="structDataBus.html#af03f33eb3cb6bcf43ff21cee18b2a2e6">DataBus::base_rpy_des</a></div><div class="ttdeci">Eigen::Vector3d base_rpy_des</div><div class="ttdoc">desired body euler angle in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00129">data_bus.h:129</a></div></div>
<div class="ttc" id="astructDataBus_html_a3d8447bc1e464140c5fa6b50a5df2ce0"><div class="ttname"><a href="structDataBus.html#a3d8447bc1e464140c5fa6b50a5df2ce0">DataBus::qp_nWSR</a></div><div class="ttdeci">int qp_nWSR</div><div class="ttdoc">QP solver parameter.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00145">data_bus.h:145</a></div></div>
<div class="ttc" id="astructDataBus_html_a0c65dc5887bec780cbb0b8b421e9b478"><div class="ttname"><a href="structDataBus.html#a0c65dc5887bec780cbb0b8b421e9b478">DataBus::qp_cpuTime</a></div><div class="ttdeci">double qp_cpuTime</div><div class="ttdoc">QP solving time limit.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00146">data_bus.h:146</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a43d29119681f29138bf209c027951505"><div class="ttname"><a href="classWBC__priority.html#a43d29119681f29138bf209c027951505">WBC_priority::f_z_upp</a></div><div class="ttdeci">double f_z_upp</div><div class="ttdoc">upper bound of ground reaction force along z-axis</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00031">wbc_priority.h:31</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad031c3a10312ef84c6f587a80cf7ea16"><div class="ttname"><a href="classWBC__priority.html#ad031c3a10312ef84c6f587a80cf7ea16">WBC_priority::tau_low_L</a></div><div class="ttdeci">Eigen::Vector3d tau_low_L</div><div class="ttdoc">lower bound of ground reaction moment</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00029">wbc_priority.h:29</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a914f1b2e9a0c441a6dab2883e5e932a2"><div class="ttname"><a href="classWBC__priority.html#a914f1b2e9a0c441a6dab2883e5e932a2">WBC_priority::ddq_final_kin</a></div><div class="ttdeci">Eigen::VectorXd ddq_final_kin</div><div class="ttdoc">ddq result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00081">wbc_priority.h:81</a></div></div>
<div class="ttc" id="astructDataBus_html_a0113f7940144a8e35089fd9818e8d70b"><div class="ttname"><a href="structDataBus.html#a0113f7940144a8e35089fd9818e8d70b">DataBus::base_rot</a></div><div class="ttdeci">Eigen::Matrix3d base_rot</div><div class="ttdoc">base rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00069">data_bus.h:69</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html"><div class="ttname"><a href="classPin__KinDyn.html">Pin_KinDyn</a></div><div class="ttdoc">This class implement the kinematic and dynamics of robot using pinocchio.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8h_source.html#l00028">pino_kin_dyn.h:28</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a87e42205ecc21da740cd68dd97dfc53b"><div class="ttname"><a href="classWBC__priority.html#a87e42205ecc21da740cd68dd97dfc53b">WBC_priority::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00049">wbc_priority.h:49</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ab25e91d2356c16769cc18c9355338587"><div class="ttname"><a href="classWBC__priority.html#ab25e91d2356c16769cc18c9355338587">WBC_priority::hd_l_pos_cur_W</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_cur_W</div><div class="ttdoc">current left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00063">wbc_priority.h:63</a></div></div>
<div class="ttc" id="astructDataBus_html_a72d6adca7adb79b4ed026eb6a75b7dce"><div class="ttname"><a href="structDataBus.html#a72d6adca7adb79b4ed026eb6a75b7dce">DataBus::J_base</a></div><div class="ttdeci">Eigen::MatrixXd J_base</div><div class="ttdoc">jacobian matrix of the baselink</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00054">data_bus.h:54</a></div></div>
<div class="ttc" id="astructDataBus_html_a131e7ab67172ee9934441b5c00187363"><div class="ttname"><a href="structDataBus.html#a131e7ab67172ee9934441b5c00187363">DataBus::des_ddq</a></div><div class="ttdeci">Eigen::VectorXd des_ddq</div><div class="ttdoc">desired generalized acceleration</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00131">data_bus.h:131</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a16c781d380edf8222b2e38225a941bf1"><div class="ttname"><a href="classWBC__priority.html#a16c781d380edf8222b2e38225a941bf1">WBC_priority::kin_tasks</a></div><div class="ttdeci">PriorityTasks kin_tasks</div><div class="ttdoc">kinematic tasks with priority for KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00085">wbc_priority.h:85</a></div></div>
<div class="ttc" id="astructDataBus_html_ad65ef145124b588a62c1505a9acf3767"><div class="ttname"><a href="structDataBus.html#ad65ef145124b588a62c1505a9acf3767">DataBus::wbc_ddq_final</a></div><div class="ttdeci">Eigen::VectorXd wbc_ddq_final</div><div class="ttdoc">final generalized acceleration after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00141">data_bus.h:141</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad9d3684eeccb5f31dcbd0068d2d3b130"><div class="ttname"><a href="classWBC__priority.html#ad9d3684eeccb5f31dcbd0068d2d3b130">WBC_priority::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of dynamic parameter dyn_M</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00046">wbc_priority.h:46</a></div></div>
<div class="ttc" id="astructDataBus_html_a65528a5d511f22b2ba35d544460d0926"><div class="ttname"><a href="structDataBus.html#a65528a5d511f22b2ba35d544460d0926">DataBus::wbc_tauJointRes</a></div><div class="ttdeci">Eigen::VectorXd wbc_tauJointRes</div><div class="ttdoc">desired torque of joint after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00142">data_bus.h:142</a></div></div>
<div class="ttc" id="astructDataBus_html_ae91319ee83a8cf354911f14955449283"><div class="ttname"><a href="structDataBus.html#ae91319ee83a8cf354911f14955449283">DataBus::fe_L_rot_L_off</a></div><div class="ttdeci">const Eigen::Matrix3d fe_L_rot_L_off</div><div class="ttdoc">left foot-end Rotation matrix w.r.t the local(body) frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00026">data_bus.h:26</a></div></div>
<div class="ttc" id="astructDataBus_html_a97432e506d995437e3cb622002cac9d4"><div class="ttname"><a href="structDataBus.html#a97432e506d995437e3cb622002cac9d4">DataBus::fe_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_l_rot_W</div><div class="ttdoc">left foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00068">data_bus.h:68</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a4f55ea86d606fb254b0b743161ff6fff"><div class="ttname"><a href="classWBC__priority.html#a4f55ea86d606fb254b0b743161ff6fff">WBC_priority::q</a></div><div class="ttdeci">Eigen::VectorXd q</div><div class="ttdoc">current robot generalized position</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00067">wbc_priority.h:67</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_a5400e52d0704615006046d3d8f0d028a"><div class="ttname"><a href="classPriorityTasks.html#a5400e52d0704615006046d3d8f0d028a">PriorityTasks::out_dq</a></div><div class="ttdeci">Eigen::VectorXd out_dq</div><div class="ttdoc">the final dq calculated to execute tasks</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8h_source.html#l00057">priority_tasks.h:57</a></div></div>
<div class="ttc" id="astructDataBus_html_a160475450d1af7e42d88d345c498f5ae"><div class="ttname"><a href="structDataBus.html#a160475450d1af7e42d88d345c498f5ae">DataBus::J_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_l</div><div class="ttdoc">jacobian matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00057">data_bus.h:57</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a78ee8266d45373be050708733b7ac928"><div class="ttname"><a href="classWBC__priority.html#a78ee8266d45373be050708733b7ac928">WBC_priority::eigen_tau_Opt</a></div><div class="ttdeci">Eigen::VectorXd eigen_tau_Opt</div><div class="ttdoc">final joint torques after DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00076">wbc_priority.h:76</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a480a21e54d4f6d9ce948eaf92c7e6ea4"><div class="ttname"><a href="classWBC__priority.html#a480a21e54d4f6d9ce948eaf92c7e6ea4">WBC_priority::fe_R_rot_L_off</a></div><div class="ttdeci">Eigen::Matrix3d fe_R_rot_L_off</div><div class="ttdoc">right foot-end rotation matrix w.r.t to the body frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00084">wbc_priority.h:84</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ae7a229982a7799821b343ba032621054"><div class="ttname"><a href="classWBC__priority.html#ae7a229982a7799821b343ba032621054">WBC_priority::Jsw</a></div><div class="ttdeci">Eigen::MatrixXd Jsw</div><div class="ttdoc">foot of swing leg Jacobian</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00059">wbc_priority.h:59</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_aad3ca89c91e596b1a89da5cbd65c1991"><div class="ttname"><a href="classWBC__priority.html#aad3ca89c91e596b1a89da5cbd65c1991">WBC_priority::dJsw</a></div><div class="ttdeci">Eigen::MatrixXd dJsw</div><div class="ttdoc">foot of swing leg Jacobian time variation</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00060">wbc_priority.h:60</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ac567541e708cee14da44b5e1ff1cbd11"><div class="ttname"><a href="classWBC__priority.html#ac567541e708cee14da44b5e1ff1cbd11">WBC_priority::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00047">wbc_priority.h:47</a></div></div>
<div class="ttc" id="astructDataBus_html_ad8eeb01c84d65c903a3e6190925af3f2"><div class="ttname"><a href="structDataBus.html#ad8eeb01c84d65c903a3e6190925af3f2">DataBus::fe_r_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_r_rot_W</div><div class="ttdoc">right foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00067">data_bus.h:67</a></div></div>
<div class="ttc" id="astructDataBus_html_a9b45a5287b92f51cc27899eee18f9ff2"><div class="ttname"><a href="structDataBus.html#a9b45a5287b92f51cc27899eee18f9ff2">DataBus::rpy</a></div><div class="ttdeci">double rpy[3]</div><div class="ttdoc">roll, pitch, yaw angle of the robot body in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00030">data_bus.h:30</a></div></div>
<div class="ttc" id="astructDataBus_html_a9582a6fdf672e9dd3f08a390758aafaf"><div class="ttname"><a href="structDataBus.html#a9582a6fdf672e9dd3f08a390758aafaf">DataBus::hd_l_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hd_l_pos_W</div><div class="ttdoc">left hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00084">data_bus.h:84</a></div></div>
<div class="ttc" id="astructDataBus_html_ade7bf3a259767473423ff44a178b8dc1"><div class="ttname"><a href="structDataBus.html#ade7bf3a259767473423ff44a178b8dc1">DataBus::wbc_dq_final</a></div><div class="ttdeci">Eigen::VectorXd wbc_dq_final</div><div class="ttdoc">final generalized velocity after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00140">data_bus.h:140</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_adae2ae0a7297db83c589f7b4d26cbe02"><div class="ttname"><a href="classPriorityTasks.html#adae2ae0a7297db83c589f7b4d26cbe02">PriorityTasks::out_delta_q</a></div><div class="ttdeci">Eigen::VectorXd out_delta_q</div><div class="ttdoc">the final delta q calculated to execute tasks</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8h_source.html#l00056">priority_tasks.h:56</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_af7eb60ca2fb34b7bcd10f488384e7a95"><div class="ttname"><a href="classWBC__priority.html#af7eb60ca2fb34b7bcd10f488384e7a95">WBC_priority::Q1</a></div><div class="ttdeci">Eigen::MatrixXd Q1</div><div class="ttdoc">weighted matrix of GRF and GRM in QP</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00077">wbc_priority.h:77</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_a91a9d5cd5b5dd9224c8ac75673b96e00"><div class="ttname"><a href="classPriorityTasks.html#a91a9d5cd5b5dd9224c8ac75673b96e00">PriorityTasks::taskLib</a></div><div class="ttdeci">std::vector&lt; Task &gt; taskLib</div><div class="ttdoc">task library, including all the tasks which should be considered</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8h_source.html#l00051">priority_tasks.h:51</a></div></div>
<div class="ttc" id="astructDataBus_html_aa1bf2f25cbec034e564125d6890df8f7"><div class="ttname"><a href="structDataBus.html#aa1bf2f25cbec034e564125d6890df8f7">DataBus::hd_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d hd_r_pos_W</div><div class="ttdoc">right hand position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00083">data_bus.h:83</a></div></div>
<div class="ttc" id="astructDataBus_html_aad4b760c5cb1103d2409810f887cace3"><div class="ttname"><a href="structDataBus.html#aad4b760c5cb1103d2409810f887cace3">DataBus::dJ_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_r</div><div class="ttdoc">jacobian time variation matrix of right leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00061">data_bus.h:61</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a4912d86b01e6bb6b48e4f8ac60f24cce"><div class="ttname"><a href="classWBC__priority.html#a4912d86b01e6bb6b48e4f8ac60f24cce">WBC_priority::dJ_hd_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_l</div><div class="ttdoc">jacobian time variation matrix of left hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00057">wbc_priority.h:57</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a7cb65e689671b04b1b4bca685602abaa"><div class="ttname"><a href="classWBC__priority.html#a7cb65e689671b04b1b4bca685602abaa">WBC_priority::computeDdq</a></div><div class="ttdeci">void computeDdq(Pin_KinDyn &amp;kinSolver)</div><div class="ttdoc">compute the desired dq, basically the KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00287">wbc_priority.cpp:287</a></div></div>
<div class="ttc" id="astructDataBus_html_ac4981d5de060aa4bb117f39c2563c6ba"><div class="ttname"><a href="structDataBus.html#ac4981d5de060aa4bb117f39c2563c6ba">DataBus::base_pos_des</a></div><div class="ttdeci">Eigen::Vector3d base_pos_des</div><div class="ttdoc">desired body position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00130">data_bus.h:130</a></div></div>
<div class="ttc" id="astructDataBus_html_a8174314fc64353b48695467949dddb20"><div class="ttname"><a href="structDataBus.html#a8174314fc64353b48695467949dddb20">DataBus::J_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00058">data_bus.h:58</a></div></div>
<div class="ttc" id="astructDataBus_html_a7ddad63ca212708e9e3c880567c9f99a"><div class="ttname"><a href="structDataBus.html#a7ddad63ca212708e9e3c880567c9f99a">DataBus::dyn_M_inv</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M_inv</div><div class="ttdoc">inverse of dynamic parameters dyn_M</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00095">data_bus.h:95</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_a3a3ac349eeaae9f95e3f2efc25ece43a"><div class="ttname"><a href="classPriorityTasks.html#a3a3ac349eeaae9f95e3f2efc25ece43a">PriorityTasks::getId</a></div><div class="ttdeci">int getId(const std::string &amp;name)</div><div class="ttdoc">Get the task id with the given name.</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8cpp_source.html#l00016">priority_tasks.cpp:16</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a380db2c47e2752ebebe6aab083051f4f"><div class="ttname"><a href="classWBC__priority.html#a380db2c47e2752ebebe6aab083051f4f">WBC_priority::hd_r_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_r_rot_cur_W</div><div class="ttdoc">current right hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00066">wbc_priority.h:66</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a8cf4c0b317a325f1d8c751a8d2fa282c"><div class="ttname"><a href="classWBC__priority.html#a8cf4c0b317a325f1d8c751a8d2fa282c">WBC_priority::miu</a></div><div class="ttdeci">double miu</div><div class="ttdoc">friction coefficient of model</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00044">wbc_priority.h:44</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a8b1444c9875e783ffff14fbbc73a3fc0"><div class="ttname"><a href="classWBC__priority.html#a8b1444c9875e783ffff14fbbc73a3fc0">WBC_priority::dq</a></div><div class="ttdeci">Eigen::VectorXd dq</div><div class="ttdoc">current robot generalized velcity</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00068">wbc_priority.h:68</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a89bb360d72ea2ceb80bcc714427978a1"><div class="ttname"><a href="classWBC__priority.html#a89bb360d72ea2ceb80bcc714427978a1">WBC_priority::tau_upp_L</a></div><div class="ttdeci">Eigen::Vector3d tau_upp_L</div><div class="ttdoc">upper bound of ground reaction moment</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00028">wbc_priority.h:28</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a24cd63af227e80cfabfa7f9265a8270d"><div class="ttname"><a href="classWBC__priority.html#a24cd63af227e80cfabfa7f9265a8270d">WBC_priority::Q2</a></div><div class="ttdeci">Eigen::MatrixXd Q2</div><div class="ttdoc">weithted matrix of ddq in QP</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00078">wbc_priority.h:78</a></div></div>
<div class="ttc" id="astructDataBus_html_a872d4c01ddcc325893e0593a82a53653"><div class="ttname"><a href="structDataBus.html#a872d4c01ddcc325893e0593a82a53653">DataBus::stanceDesPos_W</a></div><div class="ttdeci">Eigen::Vector3d stanceDesPos_W</div><div class="ttdoc">stance foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00152">data_bus.h:152</a></div></div>
<div class="ttc" id="aclassPin__KinDyn_html_a8e90245dd880ed9dc08de1e745242e96"><div class="ttname"><a href="classPin__KinDyn.html#a8e90245dd880ed9dc08de1e745242e96">Pin_KinDyn::computeInK_Hand</a></div><div class="ttdeci">IkRes computeInK_Hand(const Eigen::Matrix3d &amp;Rdes_L, const Eigen::Vector3d &amp;Pdes_L, const Eigen::Matrix3d &amp;Rdes_R, const Eigen::Vector3d &amp;Pdes_R)</div><div class="ttdoc">Inverse Kinematics for hand posture.</div><div class="ttdef"><b>Definition:</b> <a href="pino__kin__dyn_8cpp_source.html#l00334">pino_kin_dyn.cpp:334</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a835eb7c5c5a382770ec08294bb3a072b"><div class="ttname"><a href="classWBC__priority.html#a835eb7c5c5a382770ec08294bb3a072b">WBC_priority::f_z_low</a></div><div class="ttdeci">double f_z_low</div><div class="ttdoc">lower bound of ground reaction force along z-axis</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00030">wbc_priority.h:30</a></div></div>
<div class="ttc" id="astructDataBus_html_a8901e359598639544806c2ccde5cc7b3"><div class="ttname"><a href="structDataBus.html#a8901e359598639544806c2ccde5cc7b3">DataBus::J_r</a></div><div class="ttdeci">Eigen::MatrixXd J_r</div><div class="ttdoc">jacobian matrix of right foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00056">data_bus.h:56</a></div></div>
<div class="ttc" id="astructDataBus_html_a0b4be606ac9be86dc76f6e562d4af358"><div class="ttname"><a href="structDataBus.html#a0b4be606ac9be86dc76f6e562d4af358">DataBus::hd_l_rot_W</a></div><div class="ttdeci">Eigen::Matrix3d hd_l_rot_W</div><div class="ttdoc">left hand rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00086">data_bus.h:86</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ab2950b524448c63af91ce7b713aec947"><div class="ttname"><a href="classWBC__priority.html#ab2950b524448c63af91ce7b713aec947">WBC_priority::J_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd J_hd_r</div><div class="ttdoc">jacobian matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00056">wbc_priority.h:56</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_aa7fefdac3d147714609ce1bd15edf389"><div class="ttname"><a href="classWBC__priority.html#aa7fefdac3d147714609ce1bd15edf389">WBC_priority::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00045">wbc_priority.h:45</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad7a8bfff2aa05dcedeb6e3e656d3c6fd"><div class="ttname"><a href="classWBC__priority.html#ad7a8bfff2aa05dcedeb6e3e656d3c6fd">WBC_priority::setQini</a></div><div class="ttdeci">void setQini(const Eigen::VectorXd &amp;qIni)</div><div class="ttdoc">Set the initial generalized position of robot.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8cpp_source.html#l00496">wbc_priority.cpp:496</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_adebd8b10447a44efc435f34d2b9d5a0d"><div class="ttname"><a href="classWBC__priority.html#adebd8b10447a44efc435f34d2b9d5a0d">WBC_priority::eigen_xOpt</a></div><div class="ttdeci">Eigen::VectorXd eigen_xOpt</div><div class="ttdoc">optimized x = [ddq, fr] in DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00073">wbc_priority.h:73</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a1193aad27a9cafd2b447a91fcb252103"><div class="ttname"><a href="classWBC__priority.html#a1193aad27a9cafd2b447a91fcb252103">WBC_priority::tauJointRes</a></div><div class="ttdeci">Eigen::VectorXd tauJointRes</div><div class="ttdoc">joint torques result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00082">wbc_priority.h:82</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a63e9d9ee61900d1c7e6c7d0e023953aa"><div class="ttname"><a href="classWBC__priority.html#a63e9d9ee61900d1c7e6c7d0e023953aa">WBC_priority::model_nv</a></div><div class="ttdeci">int model_nv</div><div class="ttdoc">size of the system generalized coordinate dq</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00027">wbc_priority.h:27</a></div></div>
<div class="ttc" id="astructDataBus_html_a09bff47a59cfc71aff09f62df7f4f95e"><div class="ttname"><a href="structDataBus.html#a09bff47a59cfc71aff09f62df7f4f95e">DataBus::des_delta_q</a></div><div class="ttdeci">Eigen::VectorXd des_delta_q</div><div class="ttdoc">desired generalized position increment (usually dq * dt)</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00133">data_bus.h:133</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a19c84ca7e1268b73b4de35426d026d1c"><div class="ttname"><a href="classWBC__priority.html#a19c84ca7e1268b73b4de35426d026d1c">WBC_priority::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00048">wbc_priority.h:48</a></div></div>
<div class="ttc" id="astructDataBus_html_af02ef8e966761be5381e8f8ce1f4f324"><div class="ttname"><a href="structDataBus.html#af02ef8e966761be5381e8f8ce1f4f324">DataBus::dJ_l</a></div><div class="ttdeci">Eigen::MatrixXd dJ_l</div><div class="ttdoc">jacobian time variation matrix of left leg</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00060">data_bus.h:60</a></div></div>
<div class="ttc" id="astructDataBus_html_a89e3ed169f2093e233629aebeb105fbc"><div class="ttname"><a href="structDataBus.html#a89e3ed169f2093e233629aebeb105fbc">DataBus::dyn_M</a></div><div class="ttdeci">Eigen::MatrixXd dyn_M</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00094">data_bus.h:94</a></div></div>
<div class="ttc" id="astructDataBus_html_af87720bdc128aaf11f6496200af1a1f9"><div class="ttname"><a href="structDataBus.html#af87720bdc128aaf11f6496200af1a1f9">DataBus::wbc_FrRes</a></div><div class="ttdeci">Eigen::VectorXd wbc_FrRes</div><div class="ttdoc">desired ground reaction force after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00143">data_bus.h:143</a></div></div>
<div class="ttc" id="astructDataBus_html_ae46a01b6e4a05927577e0f9a58bb9528"><div class="ttname"><a href="structDataBus.html#ae46a01b6e4a05927577e0f9a58bb9528">DataBus::dyn_dAg</a></div><div class="ttdeci">Eigen::MatrixXd dyn_dAg</div><div class="ttdoc">Centroidal Momentum Matrix time variant.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00098">data_bus.h:98</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a651f35f4a14fb2dfb41356d69dbaa9c5"><div class="ttname"><a href="classWBC__priority.html#a651f35f4a14fb2dfb41356d69dbaa9c5">WBC_priority::Jfe</a></div><div class="ttdeci">Eigen::MatrixXd Jfe</div><div class="ttdoc">Jfe = [Jfe_L.transpose() Jfe_R.transpose()].transpose()</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00052">wbc_priority.h:52</a></div></div>
<div class="ttc" id="astructDataBus_html_abbf1e7f7fea2191d05ce3252ae52e879"><div class="ttname"><a href="structDataBus.html#abbf1e7f7fea2191d05ce3252ae52e879">DataBus::wbc_delta_q_final</a></div><div class="ttdeci">Eigen::VectorXd wbc_delta_q_final</div><div class="ttdoc">final generalized position increment after wbc computing</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00139">data_bus.h:139</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a5c7a80ed75a31dd24a2732852f12e4b1"><div class="ttname"><a href="classWBC__priority.html#a5c7a80ed75a31dd24a2732852f12e4b1">WBC_priority::dJ_hd_r</a></div><div class="ttdeci">Eigen::MatrixXd dJ_hd_r</div><div class="ttdoc">jacobian time variation matrix of right hand</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00058">wbc_priority.h:58</a></div></div>
<div class="ttc" id="astructDataBus_html_a1bb8296c8580550caf059e975149658e"><div class="ttname"><a href="structDataBus.html#a1bb8296c8580550caf059e975149658e">DataBus::fe_r_pos_W</a></div><div class="ttdeci">Eigen::Vector3d fe_r_pos_W</div><div class="ttdoc">right foot position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00064">data_bus.h:64</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a353a58b77c7d3844899a08eccfdc9630"><div class="ttname"><a href="classWBC__priority.html#a353a58b77c7d3844899a08eccfdc9630">WBC_priority::dq_final_kin</a></div><div class="ttdeci">Eigen::VectorXd dq_final_kin</div><div class="ttdoc">dq result from KinWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00080">wbc_priority.h:80</a></div></div>
<div class="ttc" id="astructDataBus_html_a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec"><div class="ttname"><a href="structDataBus.html#a0dcb8a4552bb6b37259a61d601cd7d7ea08979273410aa36b9c631368513397ec">DataBus::LSt</a></div><div class="ttdeci">@ LSt</div><div class="ttdoc">left leg stance</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00166">data_bus.h:166</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_ad7c5607f6d6a468b81cf035396ee1885"><div class="ttname"><a href="classWBC__priority.html#ad7c5607f6d6a468b81cf035396ee1885">WBC_priority::eigen_ddq_Opt</a></div><div class="ttdeci">Eigen::VectorXd eigen_ddq_Opt</div><div class="ttdoc">final ddq after DynWBC</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00074">wbc_priority.h:74</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a783f18f6fb7fdde9d0a098adc816bf44"><div class="ttname"><a href="classWBC__priority.html#a783f18f6fb7fdde9d0a098adc816bf44">WBC_priority::fe_L_rot_L_off</a></div><div class="ttdeci">Eigen::Matrix3d fe_L_rot_L_off</div><div class="ttdoc">left foot-end rotation matrix w.r.t to the body frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00083">wbc_priority.h:83</a></div></div>
<div class="ttc" id="astructDataBus_html_a34bcde8ab49fc624a23771e8972248ed"><div class="ttname"><a href="structDataBus.html#a34bcde8ab49fc624a23771e8972248ed">DataBus::qp_status</a></div><div class="ttdeci">int qp_status</div><div class="ttdoc">QP solving outcomes (successful or not)</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00147">data_bus.h:147</a></div></div>
<div class="ttc" id="astructDataBus_html_ad7a084dee55715eb8e65307137d71ee5"><div class="ttname"><a href="structDataBus.html#ad7a084dee55715eb8e65307137d71ee5">DataBus::dyn_Ag</a></div><div class="ttdeci">Eigen::MatrixXd dyn_Ag</div><div class="ttdoc">Centroidal Momentum Matrix.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00097">data_bus.h:97</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_af15ff64b154c8ae1d4567cca12ce01db"><div class="ttname"><a href="classWBC__priority.html#af15ff64b154c8ae1d4567cca12ce01db">WBC_priority::Fr_ff</a></div><div class="ttdeci">Eigen::VectorXd Fr_ff</div><div class="ttdoc">feedforward ground reaction force from MPC module, Fr_ff = [fe_L, fe_R], dim = 12*1</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00070">wbc_priority.h:70</a></div></div>
<div class="ttc" id="astructDataBus_html_a79a32e4d61bd3d1d9026230669cf418f"><div class="ttname"><a href="structDataBus.html#a79a32e4d61bd3d1d9026230669cf418f">DataBus::Fr_ff</a></div><div class="ttdeci">Eigen::VectorXd Fr_ff</div><div class="ttdoc">feedforwrd force (ground reaction force) computed by MPC, is the first horizon result of fe_react_tau...</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00144">data_bus.h:144</a></div></div>
<div class="ttc" id="astructDataBus_html_a377a7cdd1719fbdd45391759c52937f4"><div class="ttname"><a href="structDataBus.html#a377a7cdd1719fbdd45391759c52937f4">DataBus::dyn_Non</a></div><div class="ttdeci">Eigen::VectorXd dyn_Non</div><div class="ttdoc">dynamic parameters of the dynamic function M*ddq+C*dq+G=tau, dyn_Non=dyn_C*dq+dyn_G</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00100">data_bus.h:100</a></div></div>
<div class="ttc" id="astructDataBus_html_af3616a7ffbfec988f239485c4b550a2f"><div class="ttname"><a href="structDataBus.html#af3616a7ffbfec988f239485c4b550a2f">DataBus::legState</a></div><div class="ttdeci">LegState legState</div><div class="ttdoc">current leg stance state</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00172">data_bus.h:172</a></div></div>
<div class="ttc" id="astructDataBus_html_af13c859c256c7844154a2aac483123bd"><div class="ttname"><a href="structDataBus.html#af13c859c256c7844154a2aac483123bd">DataBus::fe_R_rot_L_off</a></div><div class="ttdeci">const Eigen::Matrix3d fe_R_rot_L_off</div><div class="ttdoc">right foot-end Rotation matrix w.r.t the local(body) frame in offset posture</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00027">data_bus.h:27</a></div></div>
<div class="ttc" id="astructDataBus_html_a3d71c2856c6ecbfec729a09024d026f8"><div class="ttname"><a href="structDataBus.html#a3d71c2856c6ecbfec729a09024d026f8">DataBus::J_l</a></div><div class="ttdeci">Eigen::MatrixXd J_l</div><div class="ttdoc">jacobian matrix of left foot</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00055">data_bus.h:55</a></div></div>
<div class="ttc" id="astructDataBus_html_ad3ec45a371e1a6cb72a158e651647cd6"><div class="ttname"><a href="structDataBus.html#ad3ec45a371e1a6cb72a158e651647cd6">DataBus::dJ_base</a></div><div class="ttdeci">Eigen::MatrixXd dJ_base</div><div class="ttdoc">jacobian time variation matrix of the baselink</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00059">data_bus.h:59</a></div></div>
<div class="ttc" id="aclassPriorityTasks_html_ad2ab5b914b5af26a9f6dafa3c77bcd70"><div class="ttname"><a href="classPriorityTasks.html#ad2ab5b914b5af26a9f6dafa3c77bcd70">PriorityTasks::addTask</a></div><div class="ttdeci">void addTask(const char *name)</div><div class="ttdoc">add a task to taskLib</div><div class="ttdef"><b>Definition:</b> <a href="priority__tasks_8cpp_source.html#l00010">priority_tasks.cpp:10</a></div></div>
<div class="ttc" id="astructDataBus_html"><div class="ttname"><a href="structDataBus.html">DataBus</a></div><div class="ttdoc">The software model for data transporting.</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00022">data_bus.h:22</a></div></div>
<div class="ttc" id="astructDataBus_html_a0afb2e446d4c0caedd5c4e0f97695f34"><div class="ttname"><a href="structDataBus.html#a0afb2e446d4c0caedd5c4e0f97695f34">DataBus::stance_fe_rot_cur_W</a></div><div class="ttdeci">Eigen::Matrix3d stance_fe_rot_cur_W</div><div class="ttdoc">current stance foot end angle position in world frame</div><div class="ttdef"><b>Definition:</b> <a href="data__bus_8h_source.html#l00138">data_bus.h:138</a></div></div>
<div class="ttc" id="aclassWBC__priority_html_a4440d37fa7fdd00e3b3a5df797d2271a"><div class="ttname"><a href="classWBC__priority.html#a4440d37fa7fdd00e3b3a5df797d2271a">WBC_priority::fe_rot_sw_W</a></div><div class="ttdeci">Eigen::Matrix3d fe_rot_sw_W</div><div class="ttdoc">current swing foot rotation matrix in world frame</div><div class="ttdef"><b>Definition:</b> <a href="wbc__priority_8h_source.html#l00061">wbc_priority.h:61</a></div></div>
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